version: 66.13
glider: 137
mission: 5
dive: 172
start: 4 7 117 15 59 48
data:
$ID,137
$MISSION,5
$DIVE,172
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,450
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54893
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034
$HD_B,0.0082
$HD_C,4.2000001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,573.99261
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,8
$CALL_WAIT,120
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3680
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2790
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,1
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-84.34626
$PRESSURE_SLOPE,0.0001160319
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,070417,155410,1325.3804,6040.5859,32,0.8,41,-0.7,0.3,237.3,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-66.5
$GPS2,070417,155912,1325.3606,6040.5527,8,0.7,18,-0.7,0.0,228.8,11,9.6
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1327.216,6037.044
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,294.0,7194,-16.6,-10.000,-19.21,2243
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.28,-146.0,95,2074,332,557,0.0,0.0,0,103,0.00,0.00,-93.12,0.000,16386,0.000,0.000,95,2074,2920,2839,3001,0,0,0,0,0,0,14.85,28.83,14.88
$GC,106,-1.28,-146.0,95,2075,2841,3002,4.4,-5.6,16,137,14.07,2.53,-8.93,0.000,18724,0.418,2.079,2879,3426,3398,3287,3509,0,0,0,0,0,0,14.28,13.38,14.51
$GC,220,-1.28,-146.0,2879,3426,3289,3513,25.3,-13.1,37,227,0.00,2.28,0.00,0.000,1030,0.000,0.035,2879,2042,3401,3289,3513,0,0,0,0,0,0,14.69,14.64,14.71
$GC,529,-1.28,-146.0,2879,2042,3289,3513,65.6,-13.8,87,538,0.00,2.30,0.00,0.000,516,0.000,0.055,2879,656,3400,3289,3512,0,0,0,0,0,0,14.97,14.69,14.99
$GC,570,-1.28,-146.0,2879,655,3289,3513,71.3,-13.8,95,575,0.12,2.25,0.00,0.000,3078,0.253,0.036,2896,2039,3401,3289,3513,0,0,0,0,0,0,14.53,14.74,14.73
$GC,876,-1.33,-146.0,2895,2039,3289,3513,109.2,-12.5,126,885,0.00,2.33,0.00,0.000,388,0.000,0.057,2887,3442,3401,3289,3513,0,0,0,0,0,0,15.03,14.74,15.05
$GC,937,-1.43,-146.0,2887,3442,3289,3513,116.3,-10.8,138,947,0.10,2.28,0.00,0.000,5254,0.142,0.034,2834,2035,3401,3289,3513,0,0,0,0,0,0,14.76,14.80,14.84
$GC,1247,-1.43,-146.0,2834,2035,3290,3512,152.5,-10.8,170,1257,0.12,2.28,0.00,0.000,2564,0.259,0.051,2865,653,3401,3290,3513,0,0,0,0,0,0,14.59,14.78,14.72
$GC,1269,-1.43,-146.0,2865,652,3290,3512,154.9,-10.8,174,1278,0.00,2.28,0.00,0.000,1030,0.000,0.040,2857,2053,3401,3290,3513,0,0,0,0,0,0,14.88,14.81,14.90
$GC,1580,-1.47,-146.0,2856,2053,3290,3513,190.9,-13.0,206,1581,0.00,0.00,0.00,0.000,134,0.000,0.000,2857,2053,3401,3290,3513,0,0,0,0,0,0,15.08,15.10,15.10
$GC,1880,-1.52,-146.0,2856,2053,3290,3513,227.0,-13.1,236,1885,0.00,2.35,0.00,0.000,644,0.000,0.059,2857,658,3401,3290,3513,0,0,0,0,0,0,15.07,14.79,15.09
$GC,1916,-1.56,-146.0,2856,657,3290,3513,232.3,-13.5,243,1924,0.00,2.28,0.00,0.000,1158,0.000,0.041,2848,2054,3401,3290,3513,0,0,0,0,0,0,14.90,14.83,14.91
$GC,2225,-1.60,-146.0,2847,2054,3290,3513,260.5,-6.0,264,2229,0.00,2.38,0.00,0.000,676,0.000,0.061,2847,653,3401,3290,3513,0,0,0,0,0,0,15.07,14.79,15.09
$GC,2269,-1.64,-146.0,2847,652,3290,3513,263.1,-5.6,272,2274,0.00,2.30,0.00,0.000,1190,0.000,0.046,2838,2051,3401,3290,3513,0,0,0,0,0,0,14.90,14.83,14.92
$GC,2594,-1.64,-146.0,2837,2051,3290,3513,283.9,-7.8,286,2595,0.00,0.00,0.00,0.000,38,0.000,0.000,2838,2051,3401,3290,3513,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2892,-1.67,-146.0,2837,2051,3290,3513,313.6,-10.6,296,2898,0.12,2.35,0.00,0.000,4740,0.144,0.066,2792,664,3401,3290,3513,0,0,0,0,0,0,14.81,14.78,14.85
$GC,2919,-1.62,-146.0,2792,664,3290,3513,317.5,-12.9,301,2931,0.17,2.28,0.00,0.000,3206,0.258,0.041,2821,2058,3401,3290,3513,0,0,0,0,0,0,14.59,14.84,14.83
$GC,3226,-1.62,-146.0,2821,2059,3289,3513,351.3,-11.1,312,3230,0.00,2.33,0.00,0.000,260,0.000,0.061,2812,3453,3401,3289,3513,0,0,0,0,0,0,15.09,14.79,15.11
$GC,3270,-1.66,-146.0,2812,3453,3289,3513,356.1,-10.5,320,3274,0.00,2.30,0.00,0.000,1158,0.000,0.040,2813,2052,3401,3289,3513,0,0,0,0,0,0,14.91,14.84,14.93
$GC,3594,-1.66,-146.0,2812,2052,3287,3511,390.0,-9.9,334,3599,0.00,2.35,0.00,0.000,548,0.000,0.064,2813,650,3399,3287,3511,0,0,0,0,0,0,15.10,14.78,15.12
$GC,3631,-1.66,-146.0,2812,650,3287,3510,394.1,-10.4,341,3637,0.00,2.30,0.00,0.000,1030,0.000,0.041,2803,2054,3398,3287,3510,0,0,0,0,0,0,14.90,14.83,14.92
$GC,3959,-1.66,-146.0,2802,2054,3286,3509,428.9,-11.3,356,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2054,3397,3286,3509,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4261,-1.66,-146.0,2802,2054,3284,3507,462.6,-11.1,366,4267,0.00,2.40,0.00,0.000,516,0.000,0.066,2803,651,3395,3284,3507,0,0,0,0,0,0,15.09,14.78,15.11
$GC,4304,-1.66,-146.0,2802,651,3284,3507,468.0,-11.1,374,4310,0.10,2.33,0.00,0.000,3078,0.281,0.042,2811,2062,3395,3284,3506,0,0,0,0,0,0,14.58,14.83,14.81
$GC,4628,-1.66,-146.0,2810,2062,3283,3505,499.0,-9.4,388,4633,0.00,2.33,0.00,0.000,292,0.000,0.066,2802,3443,3394,3283,3505,0,0,0,0,0,0,15.09,14.78,15.11
$GC,4654,-1.66,-146.0,2802,3443,3283,3504,501.8,-9.3,393,4665,0.00,2.33,0.00,0.000,1062,0.000,0.046,2802,2051,3393,3283,3504,0,0,0,0,0,0,14.90,14.81,14.92
$GC,4961,-1.66,-146.0,2802,2051,3282,3503,531.6,-9.9,404,4962,0.00,0.00,0.00,0.000,38,0.000,0.000,2802,2051,3392,3281,3503,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5262,-1.66,-146.0,2802,2051,3280,3501,563.4,-10.8,414,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2051,3390,3280,3501,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5563,-1.66,-146.0,2802,2051,3278,3499,595.2,-10.4,424,5568,0.00,2.38,0.00,0.000,516,0.000,0.069,2802,647,3388,3278,3499,0,0,0,0,0,0,15.10,14.76,15.12
$GC,5596,-1.62,-146.0,2802,647,3278,3499,599.0,-11.5,430,5604,0.12,2.33,0.00,0.000,3206,0.281,0.044,2817,2059,3388,3278,3499,0,0,0,0,0,0,14.53,14.82,14.78
$GC,5932,-1.62,-146.0,2816,2060,3277,3498,632.6,-10.2,446,5939,0.00,2.42,0.00,0.000,516,0.000,0.069,2817,651,3388,3278,3498,0,0,0,0,0,0,15.09,14.75,15.11
$GC,5961,-1.62,-146.0,2817,651,3277,3498,636.0,-10.9,451,5968,0.00,2.33,0.00,0.000,1030,0.000,0.047,2809,2045,3387,3277,3498,0,0,0,0,0,0,14.88,14.80,14.91
$GC,6269,-1.62,-146.0,2809,2046,3276,3496,668.5,-10.5,462,6273,0.00,2.40,0.00,0.000,516,0.000,0.066,2809,649,3386,3276,3496,0,0,0,0,0,0,15.09,14.76,15.12
$GC,6301,-1.62,-146.0,2809,648,3276,3496,672.2,-10.7,468,6309,0.10,2.35,0.00,0.000,3078,0.278,0.046,2817,2065,3385,3275,3496,0,0,0,0,0,0,14.54,14.80,14.78
$GC,6637,-1.62,-146.0,2817,2066,3275,3495,702.6,-8.6,484,6639,0.00,0.00,0.00,0.000,38,0.000,0.000,2817,2066,3384,3274,3494,0,0,0,0,0,0,15.08,15.11,15.10
$GC,6938,-1.62,-146.0,2817,2066,3273,3494,727.8,-8.5,494,6945,0.00,2.45,0.00,0.000,548,0.000,0.070,2817,650,3383,3273,3494,0,0,0,0,0,0,15.09,14.73,15.11
$GC,6989,-1.62,-146.0,2817,649,3273,3494,732.6,-9.0,503,6994,0.00,2.35,0.00,0.000,1062,0.000,0.050,2809,2052,3383,3273,3494,0,0,0,0,0,0,14.87,14.78,14.90
$GC,7307,-1.62,-146.0,2808,2053,3272,3493,761.4,-9.1,516,7312,0.00,2.42,0.00,0.000,548,0.000,0.068,2809,649,3382,3272,3493,0,0,0,0,0,0,15.08,14.73,15.10
$GC,7356,-1.62,-146.0,2808,648,3272,3492,766.4,-10.2,525,7364,0.10,2.35,0.00,0.000,3078,0.278,0.047,2816,2058,3381,3271,3492,0,0,0,0,0,0,14.52,14.78,14.76
$GC,7680,-1.65,-146.0,2816,2058,3271,3491,795.0,-9.1,538,7684,0.00,2.38,0.00,0.000,420,0.000,0.070,2808,3450,3380,3270,3491,0,0,0,0,0,0,15.09,14.72,15.11
$GC,7722,-1.70,-146.0,2808,3450,3271,3490,799.2,-9.4,546,7727,0.00,2.35,0.00,0.000,1190,0.000,0.048,2808,2056,3381,3271,3491,0,0,0,0,0,0,14.85,14.76,14.88
$GC,8045,-1.70,-146.0,2808,2055,3270,3490,830.5,-9.7,560,8052,0.00,2.40,0.00,0.000,548,0.000,0.069,2808,643,3379,3270,3489,0,0,0,0,0,0,15.08,14.72,15.10
$GC,8081,-1.70,-146.0,2808,643,3270,3489,834.1,-10.0,566,8086,0.00,2.35,0.00,0.000,1062,0.000,0.050,2797,2045,3379,3269,3489,0,0,0,0,0,0,14.85,14.76,14.88
$GC,8415,-1.70,-146.0,2797,2046,3269,3488,867.1,-9.5,582,8416,0.00,0.00,0.00,0.000,38,0.000,0.000,2798,2046,3378,3268,3489,0,0,0,0,0,0,15.08,15.10,15.10
$GC,8715,-1.70,-146.0,2798,2046,3268,3488,895.4,-9.5,592,8722,0.00,2.45,0.00,0.000,548,0.000,0.070,2798,642,3378,3268,3488,0,0,0,0,0,0,15.08,14.71,15.10
$GC,8750,-1.70,-146.0,2797,642,3267,3487,899.3,-10.4,598,8755,0.00,2.38,0.00,0.000,1030,0.000,0.051,2788,2059,3377,3268,3487,0,0,0,0,0,0,14.85,14.77,14.88
$GC,9084,-1.70,-146.0,2788,2059,3267,3486,934.8,-10.7,614,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2058,3376,3267,3486,0,0,0,0,0,0,15.08,15.11,15.10
$GC,9384,-1.70,-146.0,2788,2058,3266,3486,966.6,-10.5,624,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2058,3376,3266,3486,0,0,0,0,0,0,15.07,15.10,15.09
$STATE,9622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9622,begin apogee
$GC,9626,-0.33,0.0,2788,1785,3266,3486,991.3,-10.2,632,9762,1.25,0.00,131.73,2.707,10246,0.280,0.000,3100,1780,2789,2678,2901,0,0,0,0,0,0,14.38,14.00,12.99
$STATE,9763,end apogee,CONTROL_FINISHED_OK
$STATE,9763,begin climb
$GC,9765,1.28,146.0,3100,1780,2673,2897,993.3,0.0,636,9906,1.25,0.00,134.77,2.664,10502,0.187,0.000,3450,1780,2193,2067,2320,0,0,0,0,0,0,13.97,13.82,12.85
$GC,10224,1.10,146.0,3450,1780,2042,2316,945.5,13.0,682,10231,0.17,2.42,0.00,0.000,4740,0.361,0.071,3425,395,2179,2042,2316,0,0,0,0,0,0,14.18,14.46,14.41
$GC,10247,0.94,146.0,3425,394,2040,2316,942.3,12.7,687,10255,0.22,2.40,0.00,0.000,5254,0.333,0.050,3380,1796,2178,2040,2316,0,0,0,0,0,0,14.24,14.52,14.55
$GC,10554,0.87,146.0,3379,1796,2037,2316,908.0,11.0,698,10560,0.00,2.45,0.00,0.000,388,0.000,0.078,3379,3208,2176,2037,2316,0,0,0,0,0,0,14.91,14.59,14.93
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$STATE,18984,end climb,SURFACE_DEPTH_REACHED
$STATE,18984,begin surface coast
$FINISH,1.4,1.010217
$STATE,19005,end surface coast,CONTROL_FINISHED_OK
$STATE,19005,begin surface
$SM_CCo,19022,82.62,0.082,0,0,450,573.99
$SM_GC,2.30,10.07,0.40,82.62,0.087,0.060,0.082,99,2058,450,-14.09,-1.13,573.99,0,0,0,0,0,0,14.63,14.74,14.64
$IRIDIUM_FIX,1316.45,5857.99,070417,103352
$TT8_MAMPS,0.023968,0.158039
$HUMID,48.97
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.00
$XPDR_PINGS,9
$24V_AH,12.85,60.055
$10V_AH,13.23,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.150,187.200,470.125,82.625,0.000,0.000,0.000,201.800,107.000,0.000,19.930,2934.422,13093.370,756.647,2420.856,206.431,0.000,2112.704,0.000,1889.290,0.000,704.948,0.000
$DEVICE_MAMPS,417.690,2078.505,2706.570,81.855,0.000,0.000,0.000,181.305,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,663.916,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225076
$DATA_FILE_SIZE,56652,1327
$CAP_FILE_SIZE,216736,0
$CFSIZE,260034560,245125120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.042,277.53,1
$GPS,070417,211936,1326.446,6037.415,41,0.8,46,-0.6,0.0,218.1,9,9.4